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aarav18
2022-03-21 23:13:12 -06:00
parent e83c1e5cf8
commit 1833d51855
1 changed files with 3 additions and 3 deletions
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src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java
+3 -3
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@@ -90,9 +90,9 @@ public class TrackTarget extends CommandBase {
double regressedDistance = getDistance(average.y); double regressedDistance = getDistance(average.y);
// ! add 30 to the distance to get in target. May need to be adjusted // ! no longer a +30 lol -aarav
velocity = m_boomBoom.getVelocity(regressedDistance + 30); velocity = m_boomBoom.getVelocity(regressedDistance);
hoodPosition = m_boomBoom.getHood(regressedDistance + 30); hoodPosition = m_boomBoom.getHood(regressedDistance);
m_boomBoom.runDrumShooterVelocityPID(velocity); m_boomBoom.runDrumShooterVelocityPID(velocity);
m_hood.runAngleAdjustPID(hoodPosition); m_hood.runAngleAdjustPID(hoodPosition);